Robot apparatus

ABSTRACT

A robot apparatus is provided. A CPU  15  determines an output of a feeling model based on signals supplied from a touch sensor  20 . The CPU  15  also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card  13 . If the CPU finds that there is any vacant area in a memory card  13 , it causes the picture data captured from the CCD video camera  11  to be stored in the vacant area in the memory card  13 . At this time, the CPU  15  causes the time and date data and the feeling parameter in the memory card  13  in association with the picture data. The CPU  15  also re-arrays the picture data stored in the memory card  13  in the sequence of the decreasing magnitude of the feeling model output.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 09/530,143 filed on Jun. 9, 2000 and subsequently issued asU.S. Pat. No. 6,934,604, which claims priority to International PatentApplication No. PCT/JP99/04957, filed on Sep. 10, 1999, and JapanesePatent Application No. P10-256465, filed on Sep. 10, 1998, thedisclosure of which are herein incorporated by reference.

BACKGROUND OF THE INVENTION

The present invention relates to a robot apparatus having a feeling orbehavior model changed by extraneous or innate factors, a control methodfor a robot apparatus, a furnishing medium, a display method for datawritten in storage means, and a furnishing medium.

As an automatic mobile robot aimed at collecting marine data, anunderwater search robot, for example, has been developed. For anunderwater search robot, it is desirable to collect and record as manydata difficult to collect as possible. These data include, as anexample, seawater temperature data, sea stream data, depth data,terrestrial data and picture data. The operations of extracting andanalysing effective data is usually carried out after the underwatersearch robot has returned to the water surface.

Recently, an automatic mobile robot, aimed at entertainment, has beenfurnished. It is presumed that the entertainment performance of theautomatic mobile robot will become higher by accumulating dataresponsive to conditions changing with lapse of time.

However, in the automatic mobile robot, aimed at entertainment,protracted storage of meaningless data in the robot leads to increasedmemory costs.

On the other hand, the operation of extracting effective data from thedata stored in a robot is time- and labor-consuming.

Moreover, it may be presumed that, if the data extracted from theautomatic mobile robot can be browsed on the assumption that the datahas been collected by the automatic mobile robot, or can be recognizedas such, the amusement performance of the robot will be higher.

SUMMARY OF THE INVENTION

In an embodiment, the present invention provides a robot apparatushaving a feeling model or a behavioral model changed by an extraneous orinnate factor that is able to extract only effective data, a controlmethod for the robot apparatus, a furnishing medium, a display methodfor displaying data written by the robot apparatus on memory means on adisplay unit, and a furnishing medium.

That is, a robot apparatus according to the present invention has abehavioral model or a feeling model changed at least based on extraneousfactors, and includes detection means for detecting extraneous states,storage means for storing data and write control means for writingpre-set data in the storage means based on a detection signal detectedby the detection means.

In this robot apparatus, the pre-set data is written by the erasurecontrol means in the storage means based on a detection signal detectedby the detection means adapted for detecting the extraneous state.

A method for controlling a robot apparatus according to the presentinvention has a behavioral model or a feeling model changed at leastbased on extraneous factors and includes a detecting step of detectingextraneous states by detection means and a write control step of writingpre-set data in the storage means based on a detection signal detectedby the detection means.

In this robot apparatus control method, having these steps, pre-set datais written in the storage means based on the detection signal detectedby the detection means.

A furnishing medium furnishes a program to a robot apparatus having abehavioral model or a feeling model changed at least based on extraneousfactors, the program being configured to execute processing. The programincludes a detecting step of detecting extraneous states by detectionmeans, and a write control step of writing pre-set data in the storagemeans based on a detection signal detected by the detection means.

By this furnishing medium, the robot apparatus writes pre-set data inthe storage means based on the detection signal detected by thedetection means.

A robot apparatus according to the present invention has a behavioralmodel for outputting a pre-set behavior command or a feeling model foroutputting the feeling information, and includes detection means fordetecting extraneous states, storage means for storing data and writecontrol means for writing pre-set data in the storage means based on thepre-set behavior command or the feeling information.

This robot apparatus, having the above structure, writes pre-set data bywrite control means in storage means based on the pre-set behaviorcommand or the feeling information.

A method for controlling a robot apparatus according to the presentinvention is adapted to control a robot apparatus having a behavioralmodel or the feeling information outputting a pre-set behavior command.The method includes a step of outputting the pre-set behavior command orthe feeling information based on the behavioral model or the feelinginformation based on the input information and a write control step ofwriting pre-set data based on the pre-set behavior command or thefeeling information.

In the robot apparatus control method, having the above steps, pre-setdata is written in storage means based on the pre-set behavior commandor feeling information.

A furnishing medium according to the present invention furnishes aprogram to a robot apparatus having a behavioral model outputting apre-set behavior command or the feeling information, the program beingadapted to execute processing including a step of outputting the pre-setbehavior command or the feeling information based on the behavioralmodel or the feeling information based on the input information and awrite control step of writing pre-set data based on the pre-set behaviorcommand or the feeling information.

By this furnishing medium, the robot apparatus is able to write pre-setdata based on the pre-set behavior command or feeling information.

A robot apparatus according to the present invention has an instinctmodel for outputting the instinct information, and includes detectionmeans for detecting extraneous states, storage means for storing dataand write control means for writing pre-set data in the storage means.The write control means writes the pre-set data in the storage meansbased on the instinct information.

In this robot apparatus, pre-set data is written in the storage meansbased on the instinct information.

A method for controlling a robot apparatus having an instinct modeloutputting the instinct information, according to the present invention,includes an outputting step of outputting the instinct information bythe instinct model based on the input information, and a write controlstep of writing pre-set data based on the instinct information.

In this robot apparatus control method, pre-set data is written in thestorage means based on the instinct information.

A furnishing medium for furnishing a program to a robot apparatus havingan instinct model adapted to output the instinct information, theprogram being adapted to execute the processing including an outputtingstep of outputting the instinct information by the instinct model basedon the input information and a write control step of writing pre-setdata in storage means based on the instinct information.

By this furnishing medium, the robot apparatus writes pre-set data inthe storage means based on the instinct information.

A robot apparatus according to the present invention has a behavioralmodel, a feeling model or an instinct model changed based at least oninner factors, the behavioral model, feeling model or the instinct modeloutputting a pre-set behavior command, feeling information or theinstinct information based on the inner factor. The robot apparatusincludes monitoring means for monitoring the inner state as the innerfactor, storage means for memorizing data and write control means forwriting the pre-set data in the storage means. The write control meanswrites the pre-set data in the storage means based on the monitoredresults by the monitoring means.

In this robot apparatus, pre-set data is written in storage means basedon the inner state.

A method for controlling a robot apparatus having a behavioral model, afeeling model or an instinct model changed based at least on innerfactors, the behavioral model, feeling model or the instinct modeloutputting a pre-set behavior command, feeling information or theinstinct information based on the inner factor, according to the presentinvention, includes a write control step of monitoring the inner stateas the inner factor and writing the pre-set data in storage means basedon the monitored results.

In this robot apparatus control method, having these steps, pre-set datais written in storage means based on the inner state.

A furnishing medium according to the present invention furnishes aprogram to a robot apparatus having a behavioral model, a feeling modelor an instinct model changed based at least on inner factors, thebehavioral model, feeling model or the instinct model outputting apre-set behavior command, feeling information or the instinctinformation based on the inner factor, the program causing execution ofthe processing including a write control step of monitoring the innerstate as the inner factor to write pre-set data in storage means basedon the monitored results.

By this furnishing medium, the robot apparatus writes pre-set data inthe storage means based on the inner state.

A display method according to the present invention includes a read-outstep of reading out the pre-set data memorized in the storage means by arobot apparatus having a behavioral model, a feeling model and/or aninstinct model changed based at least on extraneous factors and/or innerfactors, the robot apparatus writing pre-set data in storage meansdepending co conditions, and a display step of displaying the pre-setdata read out by the read-out step on a display.

In this display method, having the above steps, the robot apparatusdisplays pre-set data stored by the robot apparatus in the storagemeans.

A furnishing medium according to the present invention furnishes aprogram to a picture display apparatus adapted to demonstrate a pictureon a display. The program is adapted to execute the processing includinga read-out step of reading out pre-set data stored in the storage meansby a robot apparatus having a behavioral model and/or a feeling modeland/or an instinct model changed depending on an extraneous factor or aninner factor, the robot apparatus writing pre-set data depending onconditions and a displaying step of displaying in the display thepre-set data read out by the read-out step.

By the furnishing medium, the picture display apparatus demonstratespre-set data stored by the robot apparatus in the storage means on thedisplay.

Additional features and advantages of the present invention aredescribed in, and will be apparent from, the following DetailedDescription of the Invention and the figures.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective view of a pet type robot embodying the presentinvention.

FIG. 2 is a block diagram showing an innate electrical structure of thepet type robot.

FIG. 3 is a block diagram showing a detailed structure of a signalprocessing unit of the pet type robot.

FIG. 4 is a block diagram for illustrating the feeling model of the pettype robot.

FIG. 5 illustrates the relationship between the sensor input, feelingmodel, instinct model and the behavioral model in the pet type robot.

FIG. 6 shows a table for plural status transitions for determining abehavioral output as a subsystem for the behavioral model.

FIG. 7 illustrates the principle of a probability automaton prescribingthe status transitions.

FIG. 8 illustrates a neural network applicable to the behavioral model.

FIG. 9 illustrates a software layer and a hardware layer of the pet typerobot.

FIG. 10 is a flowchart for illustrating the processing of memorizingeffective data on memory means based on feeling information changed withdetection signals.

FIG. 11 is a flowchart for illustrating the processing for memorizingeffective picture data on a memory card based on an output value of thefeeling model.

FIG. 12 illustrates a memorizing structure of a memory card used formemorizing a picture based on an output value of the feeling model.

FIG. 13 is a flowchart for illustrating the processing of memorizingeffective picture data in storage means based on a behavior command of abehavioral model changed with detection signals.

FIG. 14 is a flowchart for illustrating the processing of memorizingeffective picture data in storage means based on a behavior command of abehavioral model changed with detection signals.

FIG. 15 illustrates the pet type robot causing status transitions andmemorizing a picture in storage means in the status transitions of thepet type robot.

FIG. 16 is a flowchart for illustrating the processing of detecting aspecified detection signal and memorizing effective data in associationwith the detection signal in the storage means.

FIG. 17 is a flowchart for illustrating the processing of memorizingeffective data in the storage means based on the value of the detectionsignal.

FIG. 18 illustrates the storage structure of a memory card in which apicture is stored based the value of the detection signal.

FIG. 19 is a flowchart for illustrating the processing of memorizingeffective data in the storage means based on an information input fromoutside.

FIG. 20 is a flowchart for illustrating the processing of memorizingeffective data in the storage means based on the innate information.

FIG. 21 is a flowchart for illustrating the operation of reading outimage data stored in a memory card.

FIG. 22 illustrates the step of taking out data stored in a memory cardin the pet type robot from the memory card in a personal computer.

FIG. 23 is a front view showing a monitor displaying a picture stored inthe memory card on a personal computer by a browser which is a browsingsoftware

FIG. 24 illustrates a picture captured on the memory card when the pettype robot feels fear as an obstacle lying directly before it, with thecorresponding output value of the feeling model exceeding a thresholdvalue.

FIG. 25 illustrates the function of the browser for illustrating thatthe picture stored on the memory card can be displayed as a picturealbum.

FIG. 26 illustrates that the sentence displayed in combination with thepicture on the picture album is formulated into a database.

FIG. 27 illustrates the function of the browser function forillustrating that diurnal changes of the feeling output of the feelingmodel of the pet type robot can be demonstrated.

DETAILED DESCRIPTION OF THE INVENTION

Referring to the drawings, a best mode for carrying out the inventionwill be explained in detail.

The illustrated embodiment of the present invention is the applicationof the invention to a pet type robot. The pet type robot embodying thepresent invention is configured as shown for example in FIG. 1.

This pet type robot 1 is made up of legs 2 a, 2 b, 2 c and 2 d, drivenfor movement, a head 3, housing a CCD (charge coupled device) videocamera 11 (FIG. 2) and a trunk 4. The pet type robot 1 behaves andchanges its feeling in accordance with a program determining its ownbehavior based on extraneous and innate factors. It is noted that theprogram which determines the own behavior is constructed by a behavioralmodel or a feeling model. Specifically, the pet type robot 1 isconfigured to walk autonomously in association with the inputs fromvariable sensors, such as a touch sensor 20 of FIG. 2 as laterexplained, based on a program determining its own behavior.

The pet type robot 1 is provided with a PC card slot 14 for loading amemory card 13. This pet type robot 1 is able to write pre-set data onthe memory card 13 loaded on the PC card slot 14 depending onconditions. It is noted that the conditions of writing data on thememory card 13 may be based on a behavior command issued by thebehavioral model, on the feeling information issued by the feelingmodel, on the dialog with a user (keeper), on the results of detectionwith the external states, or on the results of detection of the internalstate caused by innate factors.

The pet type robot 1 is constructed by having its various componentselectrically connected to one another as shown for example in FIG. 2.The picture data picked up by a CCD video camera 11 is sent to a signalprocessing unit 12. This signal processing unit 12 processes the picturedata routed from the CCD video camera 11 to memorize the picture dataover an internal bus 18 in the memory card 13 or a DRAM (dynamic randomaccess memory) 16 as memorizing means.

A CPU (central processing unit) 15 reads out the operating programstored in a flash ROM (read-only memory) 17 over the internal bus 18 tocontrol the entire system. The operating program of the CPU 11, storedin the flash ROM 17, can be formulated or modified by an externalpersonal computer (PC) 31 connected to the signal processing unit 12.This CPU 15 has, as its functions, the writing control function ofwriting data in the memory card 13 or the DRAM 16 as memory means, anerasure control function of erasing data written in the memory card 13and in the memory means, and a re-arraying function of re-arraying thedata written in the memory means based on the data annexed to the data.

The signals detected by potentiometers 19 a to 19 d, making up detectionmeans for detecting the external state, a touch sensor 20 and amicrophone 21 are routed through branching portions 24 a to 24 e to thesignal processing unit 12, which signal processing unit 12 routessignals sent from the branching portions 24 a to 24 e over the internalbus 18 to the CPU 15. The CPU 15 controls the operation of the actuators22 a to 22 d and the legs 2 a to 2 d as well as head 3 driven thereby,based on the supplied signals. The CPU 15 controls the speech outputtedfrom the speaker 23.

It is noted that the potentiometers 19 a to 19 d, touch sensor 20,microphone 21, actuators 22 a to 22 d and the speaker 23 constitutelegs, ears and a mouth of the pet type robot 1 and are collectivelytermed a CPC (configurable physical component) device.

FIG. 3 shows an illustrative structure of the signal processing unit 12.A DRAM interface 41, a host interface 42 and a ROM interface 43 areconnected to the DRAM 16, CPU 15 and to the flash ROM 17, while beingconnected to an external bus 44. A bus controller 45 controls theexternal bus 44, whilst a bus arbiter 46 arbitrates between the externalbus 44 and an internal bus 47.

To a parallel port 48 and a serial port 50 is connected a personalcomputer (P) 31 as an external development environment. A batterymanager 49 manages the residual capacity of a battery, not shown. Theparallel port 48, battery manager 49 and the serial port 50 areconnected over a peripheral interface 53 to the internal bus 47.

The CCD video camera 11 furnishes the pictured picture data to a filterbank FBK 56, which then thins out supplied picture data to formulatepicture data of variable resolutions. These picture data are routed overthe internal bus 47 to a direct memory access (DMA) controller 51. TheDMA controller 51 transfers the furnished picture data to the DRAM 16for storage therein.

The DMA controller 51 causes the picture data stored in the dram 16 tobe read out and routed to an IPE (inner product engine) 55. The IPE 55executes pre-set calculations using the furnished picture data. Thecalculated results are transferred to the dram 16 in accordance withcommands from the DMA controller 51 for storage therein.

To a USB (universal serial bus) host controller 57 is connected a CPCdevice 25, which CPC device 25 is made up of, for example, thepotentiometers 19 a to 19 d, touch sensor 20, microphone 21, actuators22 a to 22 d and the speaker 23. The speech data furnished from the CPCdevice 25 are furnished via the USB host controller 57 to a DSP (digitalsignal processor) 52, which then executes pre-set processing on thefurnished speech data. To the USB interface 58 is connected the personalcomputer (PC) 32 as an eternal developing environment. A timer 54 routestime information to respective components over the internal bus 47.

The above is the structure of the pet type robot 1. The behavioral modelor the feeling model of the pet type robot 1 is changed based on theextraneous or innate factors. The pet type robot behaves responsive toan output of the behavioral model or the feeling model.

A feeling model 64 of the pet type robot 1 is constructed as shown forexample in FIG. 4.

The first to third sensors 61 to 63 detect stimuli applied from outside,such as environment, to convert the stimuli into electrical signals,which are outputted. These electrical signals are sent to first andsecond input evaluation units 71, 72. It is noted that the first tothird sensors 61 to 63 are comprised not only of the potentiometers 19 ato 19 d, touch sensor 20, microphone 21, but of a speech recognitionsensor and a picture color recognition sensor etc, and converts theactuations by the user in taking care of the robot 1 or the speech theor she enunciated into electrical signals, which are outputted. Outputsof the first to third sensors 61 to 63 are routed to the first andsecond input evaluation units 71, 72.

The first input evaluation unit 71 evaluates the electrical signalsfurnished from the first to third sensors 61 to 63 to detect a pre-setfeeling. This pre-set feeling may, for example, be the feeling ofpleasure. The first input evaluation unit 71 sends an evaluation valueof the detected feeling to a first feeling module 73. To the firstfeeling module 73 is allocated a pre-set feeling such that the feelingparameter is increased or decreased based on the evaluated feeling valuefurnished by the first input evaluation unit 71. If, for example, the“pleasure” is allocated to the first feeling module 73, the parameter ofthe feeling “pleasure” is increased or decreased based on the evaluatedvalue of the feeling supplied from the first input evaluation unit 71.The first feeling module 73 sends the feeling parameter to an outputselection unit 75.

Similarly, a second input evaluation unit 72 evaluates the electricalsignals furnished from the first to third sensors 61 to 63 to detect thepre-set feeling. The pre-set feeling here is, for example, the feelingof anger. The second input evaluation unit 72 sends the detectedevaluation value of the feeling to a second feeling module 74. To thesecond feeling module 74 is allocated a pre-set feeling such that thefeeling parameter is increased or decreased based on the evaluatedfeeling value furnished by the second input evaluation unit 72. If, forexample, the “anger” is allocated to the second feeling module 74, theparameter of the feeling “Anger” is increased or decreased based on theevaluated value of the feeling supplied from the second input evaluationunit 72. The second feeling module 74 sends the feeling parameter to theoutput selection unit 75.

The output selection unit 75 checks whether or not the feeling parametersupplied from the first and second feeling modules 73, 74 exceeds apre-set threshold value, and outputs the feeling parameter exceeding thethreshold value. If the two feeling parameters from the first and secondfeeling modules 73, 74 exceed the threshold value, the output selectionunit 75 selects a larger one to output the selected parameter.

A behavior generator 65 converts the feeling supplied from the outputselection unit 75 into a command instructing a specified behavior toroute the command to an output unit 66 while feeding the command back toan output evaluation unit 76.

The output evaluation unit 76 evaluates the behavior supplied from thebehavior generator 65 and, if the behavior is performed, the outputevaluation unit 76 performs control to decrease the feeling parametercorresponding to the behavior.

An output unit 66 makes an output consistent with a behavior commandfrom the behavior generator 65. The output unit 66 issues an output ofthe pet type robot 1 which then behaves in accordance with a behaviorcommand from the behavior generator 65. That is, the output unit 66 ismade up of the actuators 22 a to 22 d and the speaker 23 driving thecomponents such as legs 2 a to 2 d, head 3 or the trunk 4, and drivespre-set actuators to turn the head 3 or issue a whining or meowingsound.

The pet type robot 1 performs the behavior in this manner based on thefeeling parameter of the feeling model. In addition, the pet type robot1 is able to write pre-set data in storage means in the storage meansbased on feeling parameters. When the pet type robot 1 has done suchbehavior expressing the feeling, it writes the surrounding picture andsound as external states in the storage means. It is noted that thepicture is captured by the CCD video camera 11 as external inputtingmeans forming a part of detection means detecting the external state,whilst the sound is captured by the microphone 21 as external inputtingmeans.

The picture is captured by a CCD video camera 11 as external inputtingmeans, constituting a portion of detection means adapted for detectingthe extraneous state, whilst the speech is captured by a microphone asexternal inputting means.

In the following exclamation, it is assumed that the “pleasure” and“anger” are allocated to the first and second feeling modules 73, 74,respectively. It is also assumed that the first sensor 61, second sensor62 and the third sensor 63 are a picture color recognizing sensor, asound recognizing sensor and a touch recognizing sensor 20,respectively.

When fed from the picture color recognizing sensor (first sensor) 61,sound recognizing sensor (second sensor) 62 and from the touchrecognizing sensor (third sensor 20) with electrical signals associatedwith the “yellow”, electrical signals corresponding to a pre-setfrequency, such as “re” and with electrical signals corresponding to the“caressing” state, respectively, the first input evaluation unit 71evaluates the respective signals to determine the evaluation value for“pleasure”. The first input evaluation unit 71 routes the evaluationvalue “pleasure” to the first feeling module 73. The first feelingmodule 73 increases the feeling parameter based on the evaluation valuefor “pleasure”. The feeling parameter is routed to the output selectionunit 75.

When fed from the picture color recognizing sensor (first sensor) 61,sound recognizing sensor (second sensor) 62 and from the touchrecognizing sensor (third sensor 20) with electrical signals associatedwith the “red”, electrical signals corresponding to a pre-set frequency,such as “fa” and with electrical signals corresponding to the “hitting”state, respectively, the second input evaluation unit 72 evaluates therespective signals to determine the evaluation value for “anger”. Thesecond input evaluation unit 72 routes the evaluation value “anger” tothe second feeling module 74. The second feeling module 74 increases thefeeling parameter based on the evaluation value for “anger”. The feelingparameter is routed to the output selection unit 75.

The output selection unit 75 checks whether or not the feeling parametersupplied from the first or second feeling modules 73, 74 exceeds apre-set threshold value. It is assumed here that the feeling “anger”exceeds a threshold value.

The behavior generator 65 converts the feeling parameter supplied fromthe output selection unit 75 into a command instructing a specifiedbehavior (barking) to route the command to the output unit 66, whilecausing the command to be fed back to the output evaluation unit 76.

The output unit 66 issues an output in accordance with a behaviorcommand (barking) from the behavior generator 65. That is, the outputunit 66 outputs the corresponding sound. The “anger” is released by thepet type robot 1 barking so that its feeling of “anger” is suppressed.In this consideration, the output evaluation unit 76 decreases thefeeling parameter of the second feeling module 74.

Meanwhile, the above-mentioned output of the feeling model 64 is thefeeling parameter differentiated with respect to time. That is, thelarger the variation in the feeling parameter, the larger becomes anoutput of the feeling model 64. For example, if the feeling parameter“anger” of the pet type robot 1 is of a larger magnitude, the feelingparameter “pleasure” is rapidly changed (increased) by the robot viewingthe yellow ball it likes. In this case, the picture data captured fromthe CCD video camera 11 is verified by the pet type robot 1 as beingvalid picture data so that it is stored in memory means such as memorycard 13.

The above is the explanation of the feeling model for the pet type robot1. The behavioral model for determining the behavior of the pet typerobot 1 based on the various information is hereinafter explained withreference to FIG. 5.

The behavioral model determines the behavioral output for causing theoperation of the pet type robot 1 by a sensor input, as shown in FIG. 5.The sensor input is an input from the sensor for acquiring the externalinformation such as the potentiometers 19 a to 19 c of the CPC device25. This behavioral model M3 has a table of plural transition stateshaving different objectives for behavior as a subsystem. Specifically,referring to FIG. 6, the subsystem includes a system management F1having system management as the objective for behavior, a posturemanagement F2, having the posture management as the objective forbehavior, and an obstruction evasion F3, having the obstruction evasionas the objective for behavior. The behavioral model M3 also includes areflection F4, having the reflective movement as the objective forbehavior, a feeling expression F5 having the feeling expression as theobjective for behavior, and an autonomous behavior F6 in general, havingthe autonomous behavior in general as the objective for behavior. Thebehavioral model M3 also includes a game F7 having the game playing asthe objective for behavior, a performance F8 having the performance asthe objective for behavior, a soccer F9 having the soccer operation asthe objective for behavior and a recording F10 having data saving as theobjective for behavior. The behavioral model M3 determines an behavioraloutput transferring from the current stat to the targeted state based onthe above-described status transition table.

The status transition table attaches priority to the respective stateswhich are related with one another so that the behavior will be executedin the order of the priority sequence. In the present instance, thepriority is increasing in the sequence of the recording F10, soccer F9,performance F8, game F7, autonomous behavior F6, feeling expression F5,reflection F4, obstruction evasion F3, posture management F2 and systemmanagement F1. Thus, the system management F1, posture management F2,obstruction evasion F3, reflection F4, feeling expression F5, autonomousbehavior F6 in general, game F7, performance F8, soccer F9 and recordingF10 are executed in this sequence of priority responsive to the sensorinput from the CPC device 25.

Also, in making the behavioral output, this behavioral model M3 refersto the feeling value (feeling parameter) as an output signal of thefeeling model and to an instinct value (instinct parameter) as an outputsignal of the instinct model, as shown in FIG. 5.

In the feeling model M1, the feeling parameter is increased anddecreased responsive to the input evaluation value based on the sensorinput from the CPC device 25, while being also increased and decreasedresponsive to the output evaluation value obtained on having thebehavior. That is, the feeling parameter of the feeling model M1 isupdated based on the input evaluation and on the output evaluation.Meanwhile, the feeling model M1 includes the feeling due to reaction toan input from an extraneous field or due to the innate status and thatchanged with lapse of time. Specifically, it includes grief, fear,surprise and hate, in addition to the aforementioned pleasure and anger.

In the instinct model M2, the feeling parameter is increased anddecreased responsive to the input evaluation value based on the sensorinput from the CPC device 25, while being also increased and decreasedresponsive to the output evaluation value obtained on having thebehavior. That is, the feeling parameter of the instinct model M2 isupdated based on the input evaluation and on the output evaluation.Meanwhile, the instinct model M2 is mainly derived from the innate stateand is changed gradually. It is a model based mainly on the desire, suchas appetite, desire for exercise, rest, love, knowledge and sex. Forexample, the instinct model such as appetite can be obtained by havingreference to the residual battery capacity.

The ultimate behavioral output is done by the behavioral model M3 withreference being made to the feeling value showing the feeling parameterchanged with the input evaluation value and the output evaluation valueor to the instinct value showing the instinct parameter.

A behavior selection module 81 controls the CPC device 25 so that theoperation will be consistent with the objective of the behavior by thebehavioral output of the behavioral model M3 to cause movements of thelimb, head and the tail to complete the targeted action. This action isthe aforementioned output evaluation value and fed back to the feelingmodel M1 and to the instinct model M2.

As for the status transition table, the principle of the algorithm,termed the probability automaton, determining the state of probabilistictransition based on the transition probability, is used. Referring toFIG. 7, the principle of the algorithm of the probability automaton isexplained.

Referring to FIG. 7, if, in the algorithm termed the probabilityautomaton, n states, where n is an integer, are represented by nodesNODE0 to NODEn, whether transition occurs from a node NODE0 to the othernode NODE1˜NODEn is probabilistically determined based on the transitionprobability P1˜Pn set respectively for arcs ARC1˜ARCn interconnectingthe NODE0 to NODEn. The arc previously defines the states realized inthe device (pet type robot 1) and indicates the operation of the deviceduring transitions between the respective states in order to cause thetransition of the operations of the device between the defined states.

By applying the algorithm of the probability automaton to the statustransition table, the following node may be determined, if the currentstate is the first node NODE0, based on the current status and on theinformation for status transition such as sensor input of the CPC device25.

Meanwhile, the behavioral model is not limited to taking a behavioraloutput based on the status transition table, but to taking othermeasures. For example, a behavioral model can be constructed using aneural network comprised by having reference to an informationprocessing mechanism in a neural network. The neural network isconstructed by an input layer 91, an intermediate layer 92 and an outputlayer 93.

For example, if such neural network is applied to the behavioral modelof the pet type robot 1, the behaviors A1, A2, . . . , Ak, as output ofthe output layer 93, where k is an integer, are determined by the sensorinput of the CPC device 25, as the information of the inner state or theinformation of the outer state, through the input layer 91 and theintermediate layer 92 as illustrated in FIG. 8. Also, in the neuralnetwork, weighted learning is executed so that, in the neural network,expected results of the behavior will be obtained from the expectedinput (information of the inner state and the sensor input).

In this manner, the pet type robot 1 is operated for expressing thefeeling or takes a behavioral action by the feeling model and thebehavioral model.

Meanwhile, the feeling model of the pet type robot 1 has been explainedas determining the behavior responsive to the feeling parameter.However, as for the operation based on the feeling model of the pet typerobot 1, status transition may be caused to occur by having reference tothe status transition table in the behavioral model responsive to thefeeling parameter and the prevailing status.

Specifically, the pet type robot 1 is made up of a software layer and ahardware layer. FIG. 9 shows the software layer and the hardware layermaking up the pet type robot 1. The software layer is constituted by abehavior generating module set 101, a recognition module set 102, abehavioral module set 103, a virtual robot 104 and a file system 105.The hardware layer is constructed by a robot hardware 106 constitutingthe main body portion of the pet type robot 1 and a memory card 13 asstorage means that can be mounted/dismounted to or from the pet typerobot 1.

The recognition module set 102 is fed with picture data, soundinformation or the contact information, as the sensor information of theCPC device 25. On recognition of the information to be informed from thesensor information, the recognition module set 102 outputs theinformation on the results of recognition to the behavior generatingmodule set 101. That is, the recognition module set 102 recognizes withwhich information is associated the sensor information and outputs theresults of recognition to the behavior generating module set 101.

The behavior generating module set 101 is a module set for generatingthe behavior of the pet type robot 1 and initiates the targeted behaviorof the pet type robot 1 based on the results of recognition from therecognition module set 102. It is through this behavioral module set 103that the behavior generating module set 101 controls the CPC device 25to initiate targeted behavior, such as the action employing the limb,head or tail, sound outputting or data storage in memory means. Therobot hardware 106 is constituted by e.g., this CPC device 25.

Moreover, control of the robot hardware 106 by the behavioral module set103 is through the virtual robot 104. The virtual robot 104 is animaginary robot which is the substitution of the real pet type robot 1on the software. That is, the real pet type robot 1 is monitored on thesoftware by the virtual robot 104. The operation of the real pet typerobot is controlled based on the virtual robot 104. That is, the limb,head or the tail of the virtual robot 104 is operated or the soundradiated by an output of the behavioral module set 103 to performcorresponding control of the robot hardware 106 of the real pet typerobot 1.

The file system 105 writes or read out data to or from the memory card13. Specifically, the file system 105 writes or reads out the data to orfrom the memory card 13 by write or readout control by the behavioralmodule set 103.

The above is the constitution of the portions of the pet type robot 1responsible for its feeling and behavior. By the behavioral model or thefeeling model, constructed as explained above, the pet type robot 1operates responsive to changes in the extraneous factor ascribable toextraneous state or to those in the innate factor ascribable to theinnate state. The pet type robot 1 is constructed to store picture orsound data as pre-set data in memory means, such as the memory card 13or the DRAM 16, responsive to the operation by the behavioral model orthe feeling model or to other conditions.

The processing for storing data in the memory means in the pet typerobot 1 is hereinafter explained. Specifically, the processing in casedata is to be stored based on outputs of the behavioral model or thefeeling model, in case data is to be stored based on the results ofdirect detection of the external state, in case data is to be storedbased on the inputting of the pre-set information from outside and onthe internal state as the internal state, is explained.

It is first assumed that data is to be stored in the memory means basedon the output of the feeling model.

Referring to FIG. 10, the CPU 15 verifies whether or not a detectionsignal as a sensor output of the CPC device 25 has been detected. TheCPU 15 at step S1 executes the decision processing as to whether or nota detection signal as a sensor input to the CPC device 25 has beendetected. If, at step S1, the detection signal has been found to bedetected, the CPU 15 advances to step S2.

At step S2, the feeling information (feeling parameter) of the pre-setfeeling model corresponding to the detection signal is generatedresponsive to the value of the detection signal. The processing at thisstep S2 corresponds to the outputting of the feeling model explained inconnection with FIG. 4.

At step S3, the CPU 15 checks whether or not the feeling parameter is aspecified feeling parameter (feeling information). For example, it isdetermined whether or not the feeling parameter reaches a pre-set value.If the CPU 15 has found that the feeling parameter is not the specifiedfeeling parameter, the CPU 15 again performs the processing from stepS1. If the CPU 15 has found that the feeling parameter is the specifiedfeeling parameter, the CPU 15 advances to step S4.

At step S4, the CPU 15 performs the operation corresponding to thefeeling information and causes data to be stored in the memory means.

The pet type robot 1 is responsive to a detection signal indicating theexternal state, as explained above, to output the feeling informationfrom the feeling model to cause data to be stored in the memory means.The specified processing downstream of the outputting of the feelingmodel responsive to the detection signal and to which are annexedconditions for verification is now explained by referring to theflowchart of FIG. 11.

First, at step S11, the CPU 15 checks whether or not an output value ofthe feeling model 64 (feeling parameter) has reached a pre-setthreshold. Specifically, the CPU 15 checks whether or not the outputvalue is larger than a pre-set threshold value. If it is decided at stepS11 that the output value of the feeling model 64 has not exceeded thepre-set threshold value, the CPU 15 reverts to step S11. If, at stepS11, the output value of the feeling model 64 is found not to exceed thepre-set threshold, the CPU 15 advances to step S12.

At step S12, the CPU 15 checks whether or not there is any vacant areain the memory card 13. If, at step S12, it is found that there is avacant memory area, the CPU 15 advances to step S13 to cause the picturedata captured from the CCD video camera 11 to be stored in the vacantarea of the memory card 13. The CPU 15 then causes the time and datedata and the feeling parameter, in association with the picture data, asthe characteristic information of the picture data.

At step S14, the CPU 15 re-arrays the picture data in the order of thedecreasing magnitudes of the feeling model 64. The CPU 15 then revertsto step S11. That is, the memory area of the memory card 13 is made upof a header 111 memorizing the time and date data and the feelingparameter as the characteristic information and a picture data portion112 memorizing the picture data, as shown in FIG. 12. The CPU 15 sortsthe picture data in the order of the decreasing magnitude of the feelingoutput. There-arraying of the picture data at step S14 occurs by there-arraying function of the CPU 15 of re-arraying the pre-set datawritten in the memory means in accordance with the informationcorresponding to the pre-set data.

If it is found at step S12 that there is no vacant memory area, the CPU15 advances to step S15, where the CPU 15 checks whether or not thecurrent output value of the feeling model 64 is larger than the smallestvalue of the feeling output accompanying the picture data memorized inthe memory card 13. That is, the CPU 15 checks whether or not thecurrent output value is larger than the value of the feeling outputarrayed at the lowermost row in FIG. 12. If it is found at step S15 thatthe current output value is not larger or smaller than the smallestvalue of the memorized feeling output, the CPU 15 reverts to step S11.

If it is found at step S15 that the current output value is larger thanthe smallest value of the memorized feeling output, the CPU 15 advancesto step S16 where the CPU 15 erases picture data corresponding to thesmallest value of the feeling output. The picture data erasure is by theerasure control function of the CPU 15 in erasing pre-set data havingthe characteristic information appended thereto from the memory means.

The CPU 15 then advances to step S13 to cause storage of the thenprevailing feeling output. This causes the feeling output to be storedsequentially in the order of the decreasing magnitude of the feelingoutput.

By the above processing, the pet type robot 1 is able to refer to thefeeling information of the feeling model to cause the data to be storedin the memory means.

The pet type robot 1 may also be responsive to the feeling informationof the feeling model to cause data to be stored in the memory means.

In this case, the CPU 15 at step S21 checks whether or not the detectionsignal corresponding to the sensor input of the CPC device 25 is beingdetected, as shown in FIG. 13. The CPU 15 performs the decisionprocessing at step S21 until detection of the detection signal. If it isfound at step S21 that the detection signal has been detected, the CPU15 advances to step S22.

At step S22, the behavior command of the behavioral model is generatedin association with the detection signal. The processing at this stepS22 corresponds to the behavior output consistent with the statustransition table explained in connection with FIG. 5.

At step S23, the CPU 15 checks whether or not the behavior command is aparticular behavior command. If it is found that the behavior command isnot a particular behavior command, the processing again is performed asfrom step S21. If it is found that the behavior command is a particularbehavior command, the CPU 15 advances to step S24.

At step S24, the CPU 15 performs the operation consistent with thefeeling information and causes the data to be stored in the storagemeans.

The pet type robot 1 is responsive to a detection signal specifying theexternal state, as explained above, to output a pre-set behavior commandfrom the behavioral model, to perform the operation consistent with thebehavior command to cause data to be stored in the memory means.

The pet type robot 1 may also be responsive to the instinct informationof the instinct model to cause data to be stored in memory means.

In this case, the CPU 15 at step S81 checks whether a not a detectionsignal corresponding to the sensor input of the CPC device 25 is beingdetected as illustrated in FIG. 14. The CPU 15 performs the decisionprocessing at step S81 until detection of the detection signal. If it isfound at step S81 that the detection signal has been detect, the CPU 15advances to step S82.

At this step S82, the CPU 15 generates the instinct information of theinstinct model responsive to the detection signal. The processing atthis step S82 is to correspond to the behavior output consistent withthe status transition table explained in connection with FIG. 5. Thatis, the behavior output is determined by having reference to theinstinct information, with the pet type robot 1 taking a behavioralaction consistent with the instinct in through the intermediary of thebehavior output.

At the next step S83, the CPU 15 verifies whether or not the instinctinformation is a particular instinct information. If the CPU 15 findsthat the instinct information is not the specified instinct information,it performs the processing from step S81 again. If the CPU 15 finds thatthe instinct information is the specified instinct information, itadvances to step S84.

At this step S84, the CPI 15 performs the operation consistent with thefeeling information, whilst causing the data to be stored in the memorymeans. That is, data erasure or re-arraying can be performed, asexplained with reference to the flowchart of FIG. 11 with respect to theabove-described feeling model.

The pet type robot 1 outputs the information from the behavioral modeland the instinct model, responsive to the detection signal indicatingthe extraneous state, and performs the operation consistent with theinformation to cause data to be stored in the memory means.

By having the output of e.g., the behavioral model as the dataacquisition condition, the pet type robot 1 is able to cause data to bestored in the memory means.

The pet type robot 1 is able to write data in the memory meansresponsive to the operation of status transition by the statustransition table. For example, in case the status (node) is able totransfer between the sleeping state st1, a walking state st2, a sittingstate st3 and a barking state st4, as shown in FIG. 15, the pet typerobot 1 can transfer from a given state to another state, responsive toa behavior command, while causing data to be stored in the memory means.For example, data may be stored when the status transfers from thewalking state st2 to the sleeping state st1. This allows picture data tobe written in the memory card 13 as data directly previous to sleeping.By inputting a picture photographed by the CCD video camera 11, with thetime the value of the anger feeling output as a transition condition ofthe status transition table, and by outputting the behavior of inputtingthe speech by a microphone 21, the operation of data writing operationto the memory means can be allocated to within the anger feelingoperation. Thus, the pet type robot 1, who has its head struck violentlyand felt angry, can record a picture of a person who struck and hisabusive speech on the recording means.

Also, if, with the obstruction detection by the sensor and with the pettype robot 1 feeling fear as the transition condition, the picture iscaptured at this time, a picture of the pet type robot 1 feeling fear asto the step or height difference directly before it. Since the pictureis stored with the line of sight of the pet type robot 1 as a reference,a user who has reproduced the picture is able to see the picture as ifthe picture is a steep cliff, as the line of sight of the pet type robot1.

By providing a number of status transitions of data stored in thestorage means based on the outputs of the behavioral model or thefeeling model, a variety of data can be captured in the storage means.

In the embodiment explained using FIG. 11, reference is had to thefeeling parameter of the characteristics information as a condition oferasing data at steps S15 and S16. However, the present invention is notlimited to this configuration. For example, it is possible to havereference to the date and time data of the characteristics informationto determine the data erasure based on the decision as to whether or notthe pre-set time has elapsed. In this case, data which has elapsedpre-set time can be erased based on the date and time data.

The case in which data is stored in the storage means based on thesensor input (detection signal) of the CPC device 25 is explained. Thatis, although a behavioral model or a feeling model changed with adetection signal is checked to store data in the storage means, the pettype robot 1 is also able to directly check the extraneous state tostore data in the storage means. This is now explained with reference tothe flowchart of FIG. 16.

First, the CPU 15 at step S31 verifies whether or not the detectionsignal is a particular detection signal. For example, it is checkedwhether or not the value of the detection signal has reached a pre-setvalue. The CPU 15 performs decision processing at step S31 untildetection of the particular detection signal. If it is found at step S31that the detection signal has been detected, the CPU 15 advances to stepS32 where the CPU stores data corresponding to the detection signal inthe storage means.

The pet type robot 1 directly verifies the detection signal as explainedabove, to store data in the storage means responsive to the verifiedresults. Further details are explained with reference to the flowchartof FIG. 17.

First, at step S41, the CPU 15 verifies whether or not the value of thedetection signal as detected responsive to the extraneous state by asensor of the CPC device 25 is larger than a pre-set threshold value.If, for example, a sound is entered to the microphone 21, it ie checkedwhether or not the value of the corresponding detection signal is largerthan the pre-set threshold value.

If, at step S41, the value of the detection is verified not to exceedthe pre-set threshold value, the CPU 15 reverts to step S41. If it isfound at step S41 that the value of the detection signal exceeds thepre-set threshold value, the CPU 15 advances to step S42. The case inwhich the value of the detection signal is found to exceed the pre-setthreshold value, for example, in which the sound has been detected bythe microphone 21, means that the sound is a loud sound.

At step S42, the CPU 15 verifies whether or not there is any vacant areain the storage area of the memory card 13. If it has been found at stepS42 that there is vacant space in the storage area, the CPU 15 advancesto step S43 to store the picture data captured from the CCD video camera11 in the vacant area in the memory card 13. At this time, the CPU 15causes the date and time data and the feeling parameter to be stored ascharacteristics information in association with the picture data.

At step S44, the CPU 15 re-arrays picture data in the order of theincreasing values of the detection signals. The CPU 15 then reverts tostep S41. That is, the storage area of the memory card 13 includes aheader 111 storing parameters of the date and time data and detectionsignals and a picture data portion 112 storing the picture data, asshown in FIG. 18. The CPU 15 sorts the picture data in the order of thedecreasing magnitude of the feeling output.

If, at step S42, it has been found that there is no vacant storage area,the CPU 15 advances to step S45 to check whether or not the currentvalue of the detection signal exceeds the minimum value of the detectionsignal ancillary to the picture data stored in the memory card 13. Thatis, the CPU 15 checks whether or not the current detection signal islarger than the value of the detection signal arranged in a lowermostposition in FIG. 18. If the current value of the detection signal isverified at step S45 to be not larger than or smaller than the smallestvalue of the stored detection signal, the CPU 15 reverts to step S41.

If, at step S45, the current detection signal is verified to be largerthan the smallest value of the stored detection signal, the CPU 15advances to step S46 to erase the picture data corresponding to thesmallest value of the detection signal. The CPU 15 then advances to stepS43 to store the value of the detection signal. This causes thedetection signals to be stored sequentially in the order of thedecreasing values of the detection signals in the memory card 13.

By the above processing, the pet type robot 1 is able to store the datain the memory means by directly referring to the values of the detectionsignals.

For example, if reference is had to the detection signal by the sensorof the CPC device 25 as data storage conditions, the pet type robot 1 isable to store the picture or the speech at such time in memory means,such as memory card 13.

Thus, if a cup has dropped and broken in the vicinity of the pet typerobot 1, the resulting catastrophic state can be stored as picture andspeech in the storage means responsive to the magnitude of the sound.The picture can be acquired as real by causing the pet type robot 1 toswing its neck in a direction towards the origin of the sound. Thedirection in which the sound has been entered may be identified by thephase difference of the sound entering the sensor.

Specifically, the behavior of the pet type robot 1 turning to thedirection of the sound source is outputted, with the large sound beinginputted to the sensor as a condition for transition in the statustransition table. Assuming that the pet type robot has swung its headwith the transition condition in the destination of transition as anobject, the behavior of storing the picture data at such time in thememory card 13 is allocated. In this manner, if a cup has been droppedin the vicinity of the pet type robot 1, the pet type robot 1 can turnits head to the sound source responsive thereto to write thecatastrophic state as a picture in the memory card 13.

In the embodiment shown in FIG. 17, the feeling parameter of thecharacteristics information is referred to as a condition or erasing thedata at steps S45 and S46. This, however, is merely illustrative becausereference may be had to the date and time data of the characteristicsinformation to determine the data erasure based on the decision as towhether or not the pre-set time has elapsed.

Next, a case in which data is to be stored in memory means responsive tothe inputting of the pre-set information from outside is explained. Inthe foregoing description, the pet type robot 1 voluntarily records theinformation. A case in which data is recorded on the recording means byinteraction (dialog) with the user (keeper) is explained. In this case,the pet type robot 1 evaluates a detection signal entered from thesensor of the CPC device 25 to write data in the storage meansresponsive to the input detection signal (command) based on the resultsof evaluation. Reference is had to the flowchart of FIG. 19.

First, the CPU 15 at step S51 verifies whether or not a detection signalhas been detected. The check operation at step S51 is performed untildetection of the detection signal. If it has been found at step S51 thatthe detection signal has been detected, the CPU 15 advances to step S52.

At step S52, the CPU 15 verifies whether or not the detection signal isa pre-set command (dialog) from the keeper. The decision here is madeby, for example, the aforementioned input evaluation portion. If thedetection signal is verified not to be a pre-set signal from the keeper,the CPU 15 again performs the processing at step S51. If the detectionsignal is verified to be a pre-set signal from the keeper, the CPU 15advances to step S53.

At step S53, the CPU 15 causes data to be stored in the storage means inkeeping with the user's command.

By this dialog with the user, the pet type robot 1 is able to store datain the memory means.

By this processing, data can be stored in the memory means in keepingwith the status transition, with the transition condition then being thesitting pet type robot 1 having its head struck lightly twice.Specifically, data is stored by the following processing in the memorymeans:

As an extraneous state, a touch sensor 20 as pressure measurement meansis struck and a detection signal (pressure information) outputted fromthe touch sensor 20 on being struck is evaluated by the above-describedinput evaluation portion. If the result of evaluation that being strucktwice is a pre-set command from the user is obtained, the pet type robot1 stores the picture data or the speech data in the storage means.

Meanwhile, data acquisition by the pet type robot 1 through dialog isnot limited to being struck, as explained above. For example, the pettype robot 1 is able to identify a command by a pre-set language torecord data.

In this manner, data can be intentionally stored in the pet type robot 1by the keeper touching the pet type robot 1 as a pre-set operation orspeaking to the pet type robot 1 in a pre-set language.

It is also possible to use a device for interaction for the pet typerobot 1, such as a sound commander, to command the pet type robot 1 tocause data to be stored in the storage means. In this case, the pet typerobot 1 can be provided with a module recognizing the sound to inducestatus transition in keeping with the corresponding command by handlingthe result of recognition of the recognition module as a sensor input ofthe behavioral model to cause the data to be stored in the storagemeans.

A case in which reference is had to the inner state of the pet typerobot 1 for storage in the storage means is explained. In the aboveembodiment, the pet type robot 1 writes data in the storage means basedon the behavioral parameter or the feeling parameter, writes data in thestorage means based on the detection signal as the result of detectionof the extraneous state or writes data in the storage means based on thedetection signal as the result of detection of the extraneous state.That is, in the above-described embodiment, the pet type robot 1 writesdata in the memory means by extraneous factors. The pet type robot 1 isable not only to write data in the storage means based on the extraneousfactors, but also to write data based on the inner factors.

The pet type robot 1 is able to increase its appetite by chronologicalchanges ir behavior, that is to consume the battery capacity. Thus, datacan be stored in the storage means based on the decrease in the batterycapacity, with the battery capacity decrease being then the changes inthe inner state as the inner factor. This will now be explained withreference to the flowchart of FIG. 20.

At step S61, the CPU 61 verifies whether or not the pre-set inner factor(inner state) has been changed a specified amount. The CPU 15 performsthe discriminating processing of step S61 until detection of thedetection signal of a pre-set amount of the inner factor. If it has beenfound at step S61 that the inner factor has changed a specified amount,the CPU 15 advances to step S62 where the CPU 15 causes data to bestored in the storage means.

The pet type robot 1 causes data to be stored in the memory means basedon these changes in the inner factor. Since the pet type robot 1 is alsoable to store data in the memory means when the decrease in the batterycapacity has reached a pre-set value, the pet type robot 1 can cause thepicture data to be stored in the storage means as data when it ishungry.

In this processing, the CPU 15 has a function of monitoring the amountof changes in the inner factor and causes data to be written in thestorage means based on the monitoring result by the monitor controlfunction.

The processing in case data stored in the storage means by the pet typerobot 1 is read out by the personal computer 31 is hereinafterexplained. Specifically, the operation of processing for reading outpicture data stored in the memory card 13 is explained with reference tothe flowchart shown in FIG. 21.

First, the user extracts the memory card 13 from the PC card slot 14 toload the memory card 13 in a card slot, not shown, in the personalcomputer 31, as shown in FIG. 22. When the memory card 13 is loaded inthe card slot, the CPU, not shown, enclosed in the personal computer 31reads out at step S71 picture data stored in the memory card 13, asshown in FIG. 21. If the picture data is stored in the memory card 13 inassociation with the feeling output, the CPU reads out picture data inthe order of the decreasing magnitudes of the feeling output. On theother hand, if the picture data is stored in the memory card 13 inassociation with the magnitude of the detection signal, the CPU readsout picture data in the order of the decreasing magnitudes of thefeeling output.

At step Second input evaluation unit 72, the CPU re-arrays the read-outpicture data in the chronological order of the date and time data toproceed to step S73. At step S73, the CPU stores the re-arrayed picturedata in a memory, not shown, to terminate the processing.

This allows the user to read out picture data at any time on thepersonal computer 31. Therefore, the user can read out picture data toenjoy the picture data as an album recording the life of the pet typerobot 1.

For example, the personal computer 31 is able to read out picture datastored in the memory card 13 by a so-called browser which is a browsersoftware stored on the furnishing medium to demonstrate the read-outpicture data on a display such as a monitor. For example, the picturedata stored in the memory card 13 can be browsed by the browser sfollows:

The user can, for example, view the video data written by the pet typerobot 1 on the memory card 13 by executing the browser on the personalcomputer 31. Moreover, the browser is able to refer to the date and timedata to array and display the pictures chronologically.

Specifically, the user can view first to sixth pictures P1 to P6 storedby the pet type robot 1 on the memory card 13 chronologically on thepersonal computer 31, as shown in FIG. 23. For example, the firstpicture P1 is a shoe placed on the porch, the second picture P2 is akept cat, the third picture P3 is a table leg, the fourth picture P4 isa leg of someone, the fifth picture P5 is a keeper's face and the sixthpicture P6 is a kept dog. These first to sixth pictures P1 to P6 may bethose when the output magnitude of the feeling model is large or whenthe magnitude of the detection signal is large.

If time is displayed as reference, diurnal events may be browsed. Ifevery other day is taken as a reference, data can be stored forprolonged time to permit the pictures to be browsed. By re-arraying theevents chronologically based on the time information accompanying theinformation, the user is able to view the events as a sort of an albumrecording the growth or life records of the pet type robot 1.

Moreover, the browser is able to display the pictures recorded by thepet type robot 1 on the memory card 13 like a picture diary. Forexample, the pet type robot 1 memorizes a picture when an output valueof the feeling model or the value of the detection signal has exceeded acertain threshold value. For example, if the pet type robot 1 feels fearas to an obstacle lying before it, and if the output value of thefeeling model at that time exceeds a threshold value, it writes thepicture at that time on the memory card 13, so that the pet type robot 1writes a picture P10 when it has felt fear as to the obstacle, as shownfor example in FIG. 24.

Based on the decision condition accompanying the picture P10 written inthis manner on the memory card 13, and on the output value of thefeeling model, the browser outputs an associated sentence W, reading:“Today, I has fear because there were many obstacles”, as an example, toa monitor 31 a along with the picture P10 for display like a picturediary. The sentence W associated with the picture P is selected from thedatabase made up of plural sentences W1 to Wm, where m is an integer. Anaudio output may also be issued in meeting with the outputting of theoutput picture as illustrated in FIGS. 25 and 26. The browser also isable to graphically display only changes in the output value of thefeeling model. For example, the browser is able to display changes n theoutput value of the “fear” or “pleasure” of the diurnal feeling modelwith respect to time plotted on the abscissa in a graph of FIG. 27. Thispermits the user to see the pleasure, anger, grief or pleasure for a dayof the pet type robot 1.

In the above-described embodiment, data is mainly stored on the memorycard 13. This, however, is not limitative since data can be memorized ina DRAM 16.

In inputting a picture to the personal computer 31, data can be sentfrom the pet type robot 1 to the personal computer 31 using radiocommunication means, such as PC card RangeLAN or cable communicationmeans such as USB. By using the radio or wired communication means, itis possible to view picture data etc captured by the pet type robot 1 inreal-time on the personal computer 31.

It is also possible to install the computer program recorded on therecording medium (furnishing medium) to cause the pet type robot 1 toexecute the aforementioned processing.

The furnishing medium for supplying a computer program executing theabove processing to the user may be enumerated by a transmission mediumon a network, such as Internet or digital satellite, in addition to theinformation; recording medium, such as a magnetic disc or a CD-ROM.

According to the present invention, it is possible to cause a robotapparatus to collect the information autonomously. This permits the userto check the information collected by the robot apparatus with anfeeling of expectation while remaining unawares of what information willbe acquired. Since the information is collected under a certaincondition, efficient information collection is rendered possible, whileit is unnecessary to increase the recording capacity of recording meanswhich memorizes the information.

According to the present invention, it is also possible to visualize theinformation as viewed by the robot apparatus to increase the friendlyfeeling entertained for the robot apparatus.

It should be understood that various changes and modifications to thepresently preferred embodiments described herein will be apparent tothose skilled in the art. Such changes and modifications can be madewithout departing from the spirit and scope of the present invention andwithout diminishing its intended advantages. It is therefore intendedthat such changes and modifications be covered by the appended claims.

1. A robot apparatus having a dynamic behavioral model or a dynamicfeeling model that is changed at least based on extraneous factors and abehavioral output, comprising: detection means for detecting extraneousstates; storage means for storing data; write control means for writingpre-set data in said storage means based on a detection signal detectedby said detection means; erasure control means for erasing pre-set datastored in said storage means, wherein said write control means addscharacteristics information of said detection signal to said pre-setdata to write the resulting signal in said storage means, and whereinsaid erasure control means erases said pre-set data added to saidcharacteristics information from said storage means when a pre-setcondition consistent with the characteristics information holds; and aplurality of legs for walking, wherein said detection means includespressure measurement means for measuring the pressure as the extraneousstate, and wherein said evaluating means evaluates the pressureinformation as the detection signal from said pressure measurementmeans.
 2. The robot apparatus according to claim 1 wherein saiddetection means includes extraneous data inputting means, whereinextraneous data is inputted in said extraneous data inputting means, andwherein said write control means writes extraneous input data to saidextraneous data inputting means in said storage means.
 3. A robotapparatus having a dynamic behavioral model or a dynamic feeling modelthat is changed at least based on extraneous factors and a behavioraloutput, comprising: detection means for detecting extraneous states;storage means for storing data; write control means for writing pre-setdata in said storage means based on a detection signal detected by saiddetection means; erasure control means for erasing pre-set data storedin said storage means, wherein said write control means addscharacteristics information of said detection signal to said pre-setdata to write the resulting signal in said storage means, and whereinsaid erasure control means erases said pre-set data added to saidcharacteristics information from said storage means when a pre-setcondition consistent with the characteristics information holds; and aplurality of legs for walking, wherein said pre-set condition for saiderasure control means is whether or not a pre-set value has beenreached.
 4. A robot apparatus having a dynamic behavioral model or adynamic feeling model that is changed at least based on extraneousfactors and a behavioral output, comprising: detection means fordetecting extraneous states; storage means for storing data; writecontrol means for writing pre-set data in said storage means based on adetection signal detected by said detection means; erasure control meansfor erasing pre-set data stored in said storage means, wherein saidwrite control means adds characteristics information of said detectionsignal to said pre-set data to write the resulting signal in saidstorage means, and wherein said erasure control means erases saidpre-set data added to said characteristics information from said storagemeans when a pre-set condition consistent with the characteristicsinformation holds; and a plurality of legs for walking, wherein saidpre-set condition for said erasure control means is whether or not apre-set time has elapsed.
 5. A robot apparatus having a behavioral modelfor generating a behavioral output, said robot apparatus comprising:detection means for detecting extraneous states, wherein the inputevaluation is based on the detected extraneous states; storage means forstoring data; write control means for writing data in said storage meansbased on a detection signal detected by said detection means; erasurecontrol means for erasing data stored in said storage means, whereinsaid write control means adds characteristics information of saiddetection signal to said data to write the resulting signal in saidstorage means, and wherein said erasure control means erases said dataadded to said characteristics information from said storage means when apre-set condition consistent with the characteristics information holds;and a plurality of legs for walking, wherein the behavioral output isbased on a feeling model that changes with respect to an inputevaluation and an output evaluation based on previous behavior output.6. A robot apparatus having a dynamic behavioral model or a dynamicfeeling model that is changed at least based on extraneous factors and abehavioral output, comprising: detection means for detecting extraneousstates; storage means for storing data; write control means for writingpre-set data in said storage means based on a detection signal detectedby said detection means; erasure control means for erasing pre-set datastored in said storage means, wherein said write control means addscharacteristics information of said detection signal to said pre-setdata to write the resulting signal in said storage means, and whereinsaid erasure control means erases said pre-set data added to saidcharacteristics information from said storage means when a pre-setcondition consistent with the characteristics information holds; and aplurality of legs for walking, wherein said detection means includespressure measurement means for measuring the pressure as the extraneousstate, and wherein said evaluating means evaluates the pressureinformation as the detection signal from said pressure measurementmeans.
 7. The robot apparatus according to claim 1 wherein saiddetection means includes extraneous data inputting means, whereinextraneous data is inputted in said extraneous data inputting means, andwherein said write control means writes extraneous input data to saidextraneous data inputting means in said storage means.
 8. A robotapparatus having a dynamic behavioral model or a dynamic feeling modelthat is changed at least based on extraneous factors and a behavioraloutput, comprising: detection means for detecting extraneous states;storage means for storing data; write control means for writing pre-setdata in said storage means based on a detection signal detected by saiddetection means; erasure control means for erasing pre-set data storedin said storage means, wherein said write control means addscharacteristics information of said detection signal to said pre-setdata to write the resulting signal in said storage means, and whereinsaid erasure control means erases said pre-set data added to saidcharacteristics information from said storage means when a pre-setcondition consistent with the characteristics information holds; and aplurality of legs for walking, wherein said pre-set condition for saiderasure control means is whether or not a pre-set value has beenreached.
 9. A robot apparatus having a dynamic behavioral model or adynamic feeling model that is changed at least based on extraneousfactors and a behavioral output, comprising: detection means fordetecting extraneous states; storage means for storing data; writecontrol means for writing pre-set data in said storage means based on adetection signal detected by said detection means; erasure control meansfor erasing pre-set data stored in said storage means, wherein saidwrite control means adds characteristics information of said detectionsignal to said pre-set data to write the resulting signal in saidstorage means, and wherein said erasure control means erases saidpre-set data added to said characteristics information from said storagemeans when a pre-set condition consistent with the characteristicsinformation holds; and a plurality of legs for walking, wherein saidpre-set condition for said erasure control means is whether or not apre-set time has elapsed.